Quarterly report pursuant to Section 13 or 15(d)

Long-Term Debt and Other Financings - Silicon Valley Bank Loan Agreement (Details)

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Long-Term Debt and Other Financings - Silicon Valley Bank Loan Agreement (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Mar. 04, 2019
May 07, 2018
Sep. 30, 2018
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Mar. 31, 2019
May 31, 2018
Long-term debt                    
Aggregate number of shares of common stock called by warrants       19,426   19,426   28,489    
Proceeds from issuance of long-term debt             $ 9,500      
Debt amount       $ 29,952   $ 29,952        
Current portion of long-term debt       8,962   8,962   $ 5,184 [1]    
Long-term debt       20,990   20,990   27,093 [1]    
Common stock warrant, Exercise price $23.69 per share, Issued May 2018                    
Long-term debt                    
Aggregate number of shares of common stock called by warrants                   6,332
Exercise price of per share (in dollars per share)                   $ 23.69
Common stock warrant, Exercise price $14.71 per share, Issued March 2019                    
Long-term debt                    
Aggregate number of shares of common stock called by warrants                 4,845  
Exercise price of per share (in dollars per share)                 $ 14.71  
Silicon Valley Bank Loans                    
Long-term debt                    
Maximum borrowing capacity under loan agreement   $ 20,000                
Period of monthly payments of principal and interest   24 months                
Maximum period following loan amortization date for which loan will mature   23 months                
Maximum period prior to loan maturity date of Novartis loan for which loan will mature   30 days                
Amount of loan that may be reborrowed after repayment   $ 0                
Final payment fee (as a percent)   8.50%                
Additional interest rate in the event of default (as a percent)   4.00%                
Debt issuance costs   $ 200                
Non-cash interest expense resulting from amortization of discount and accretion of final payment       200 $ 200 500 $ 400      
Debt amount       13,800   13,800   16,400    
Current portion of long-term debt       9,000   9,000   5,200    
Long-term debt       $ 4,800   $ 4,800   11,200    
Silicon Valley Bank Loans | Minimum                    
Long-term debt                    
Interest rate (as a percent)   4.75%                
Silicon Valley Bank Loans | Common stock warrant, Exercise price $23.69 per share, Issued May 2018                    
Long-term debt                    
Aggregate number of shares of common stock called by warrants   6,332                
Exercise price of per share (in dollars per share)   $ 23.69                
Exercisable period of warrants   10 years                
Fair value of warrant   $ 100                
Silicon Valley Bank Loans | Common stock warrant, Exercise price $14.71 per share, Issued March 2019                    
Long-term debt                    
Aggregate number of shares of common stock called by warrants 4,845                  
Exercise price of per share (in dollars per share) $ 14.71                  
Exercisable period of warrants 10 years                  
Fair value of warrant $ 100                  
Silicon Valley Bank Loans | Prime Rate                    
Long-term debt                    
Basis spread on variable rate   0.25%                
Silicon Valley Bank Loans | On or before first anniversary                    
Long-term debt                    
Prepayment fee (as a percent)   3.00%                
Silicon Valley Bank Loans | Following first anniversary                    
Long-term debt                    
Prepayment fee (as a percent)   2.00%                
Silicon Valley Bank Loans | Following second anniversary                    
Long-term debt                    
Prepayment fee (as a percent)   1.00%                
Silicon Valley Bank, First Term Loan                    
Long-term debt                    
Proceeds from issuance of long-term debt     $ 7,500              
Unamortized discount     $ 300              
Silicon Valley Bank, Second Term Loan                    
Long-term debt                    
Proceeds from issuance of long-term debt               9,500    
Unamortized discount               $ 45    
[1] The consolidated balance sheet as of December 31, 2019 has been derived from the audited consolidated financial statements as of that date included in the Company’s Annual Report on Form 10-K for the year ended December 31, 2019.